Add basic NXT suport for GNU/Linux (#1900)

Initial Lego NXT support for GNU/Linux desktops. Requires downloading or installing from repo of a corresponding cross-compiler for obsolete ARMv5 ISA.

* Add RXE compilation on Linux for NXT
* Minor fixes with code improvements
* Disable generatorSettingsGroupBox for Windows
* Fix typo in control UI file

---------

Co-authored-by: zhitm <zhtinuhina.maria@gmail.com>
Co-authored-by: MinyazevR <eeuriset8@gmail.com>

Author: 3 people

.gitmodules

@@ -25,7 +25,8 @@
 	url = https://bitbucket.org/codeimproved/qslog.git
 [submodule "installer/nxt-tools"]
 	path = installer/nxt-tools
-	url = https://github.com/trikset/nxt-tools
+	url = https://github.com/trikset/nxt-tools.git
+	branch = main
 [submodule "trik-checkapp"]
 	path = thirdparty/checkapp/checkapp
 	url = https://github.com/trikset/trik-checkapp

installer/nxt-tools

@@ -6,4 +6,4 @@ cd "$(dirname "$0")"
 source "$INSTALLER_ROOT"/utils/common_utils.sh
 mkdir "$PWD"/../data/bin
 cd "$PWD"/../data/bin
-rsync -a "$INSTALLER_ROOT"/nxt-tools/linux/nxt-tools  ./
+rsync -a "$INSTALLER_ROOT"/nxt-tools  ./

installer/packages/trik-studio/ru.qreal.root.nxt.tools/meta/prebuild-linux-gnu.sh

@@ -7,6 +7,6 @@ source "$INSTALLER_ROOT"/utils/common_utils.sh
 
 cd "$PWD"/../data
 
-rsync -aR "$INSTALLER_ROOT"/nxt-tools/win/./nxt-tools .
+rsync -aR "$INSTALLER_ROOT"/./nxt-tools .
 dos2unix nxt-tools/compile.sh
 rm -rf bin

installer/packages/trik-studio/ru.qreal.root.nxt.tools/meta/prebuild-win32.sh

@@ -222,15 +222,25 @@ bool NxtFlashTool::uploadProgram(const QFileInfo &fileInfo)
 	mCompileState = idle;
 	mSource = fileInfo;
 
-#ifdef Q_OS_WIN
 	mCompileProcess.setWorkingDirectory(path());
-	mCompileProcess.start("cmd", { "/c", path("compile.bat")
-			+ " " + fileInfo.completeBaseName()
-			+ " " + fileInfo.absolutePath() });
-#else
-	mCompileProcess.start("sh", { path("compile.sh") , fileInfo.absolutePath()});
-#endif
 
+	auto osType = PlatformInfo::osType();
+	if (osType == "windows") {
+		auto line = path("compile.bat")
+			+ " " + fileInfo.completeBaseName()
+			+ " " + fileInfo.absolutePath()
+			+ " " + path("gnuarm");
+		mCompileProcess.start("cmd", { "/c", line});
+	}
+	else if (osType == "linux") {
+		auto line = "./compile.sh . " + fileInfo.absolutePath() +
+					" GNUARM_ROOT="+SettingsManager::value("pathToArmNoneEabi").toString();
+		mCompileProcess.start("/bin/bash", {"-c", line});
+	}
+	else {
+		QLOG_INFO() << "Platform: " << osType << "not supported for upload program";
+		return false;
+	}
 	information(tr("Uploading program started. Please don't disconnect robot during the process"));
 	return true;
 }
@@ -291,6 +301,10 @@ void NxtFlashTool::readNxtCompileData()
 						"If you sure in their validness contact developers"));
 			} else {
 				error(tr("Could not upload program. Make sure the robot is connected and ON"));
+				if (PlatformInfo::osType() == "linux") {
+					error(tr("If you are using GNU/Linux visit "
+							 "https://help.trikset.com/nxt/run-upload-programs to get instructions"));
+				}
 			}
 		}
 

plugins/robots/generators/nxt/nxtOsekCGenerator/nxtFlashTool.cpp

@@ -13,7 +13,6 @@
  * limitations under the License. */
 
 #include "nxtOsekCGeneratorPlugin.h"
-
 #include <QtCore/QDir>
 #include <QtCore/QDateTime>
 #include <QtWidgets/QApplication>
@@ -22,6 +21,7 @@
 #include <qrkernel/platformInfo.h>
 #include <qrutils/singleton.h>
 
+#include "QsLog.h"
 #include "nxtOsekCMasterGenerator.h"
 
 using namespace nxt::osekC;
@@ -36,6 +36,12 @@ NxtOsekCGeneratorPlugin::NxtOsekCGeneratorPlugin()
 	, mNxtToolsPresent(false)
 	, mCommunicator(utils::Singleton<communication::UsbRobotCommunicationThread>::instance())
 {
+	const QString key = "pathToArmNoneEabi";
+	const QString defaultPath = QDir(PlatformInfo::invariantSettingsPath("pathToNxtTools")).absolutePath()
+								+"/arm-gnu-toolchain-13.2.rel1-x86_64-arm-none-eabi";
+	if (qReal::SettingsManager::value(key).isNull()) {
+		qReal::SettingsManager::setValue(key, defaultPath);
+	}
 	initActions();
 	initHotKeyActions();
 }
@@ -95,7 +101,6 @@ void NxtOsekCGeneratorPlugin::onCurrentDiagramChanged(const TabInfo &info)
 void NxtOsekCGeneratorPlugin::init(const kitBase::KitPluginConfigurator &configurator)
 {
 	RobotsGeneratorPluginBase::init(configurator);
-
 	mFlashTool.reset(new NxtFlashTool(*mMainWindowInterface->errorReporter(), *mCommunicator));
 	connect(&*mFlashTool, &NxtFlashTool::uploadingComplete, this, &NxtOsekCGeneratorPlugin::onUploadingComplete);
 }
@@ -225,21 +230,27 @@ void NxtOsekCGeneratorPlugin::uploadProgram()
 void NxtOsekCGeneratorPlugin::checkNxtTools()
 {
 	const QDir dir(PlatformInfo::invariantSettingsPath("pathToNxtTools"));
-	if (!dir.exists()) {
-		mNxtToolsPresent = false;
-	} else {
-		QDir gnuarm(dir.absolutePath() + "/gnuarm/bin");
-		QDir nexttool(dir.absolutePath() + "/nexttool");
-		QDir nxtOSEK(dir.absolutePath() + "/nxtOSEK");
-
-#ifdef Q_OS_WIN
-		QFile compile1(dir.absolutePath() + "/compile.bat");
-		QFile compile2(dir.absolutePath() + "/compile.sh");
-		mNxtToolsPresent = gnuarm.exists() && nexttool.exists() && nxtOSEK.exists()
-				&& compile1.exists() && compile2.exists();
-#else
-		QFile compile(dir.absolutePath() + "/compile.sh");
-		mNxtToolsPresent = gnuarm.exists() && nexttool.exists() && nxtOSEK.exists() && compile.exists();
-#endif
+	auto compilePath = dir.absolutePath() + "/compile.sh";
+
+	auto nxtToolsPresent = dir.exists()
+			&& QFileInfo::exists(dir.absolutePath() + "/gnuarm")
+			&& QFileInfo::exists(dir.absolutePath() + "/nexttool")
+			&& QFileInfo::exists(dir.absolutePath() + "/nxtOSEK")
+			&& QFileInfo::exists(compilePath) && QFileInfo(compilePath).isFile();
+
+	if (!nxtToolsPresent) {
+		mNxtToolsPresent  = false;
+		QLOG_ERROR() << "Missing" << dir.absolutePath() << "or mandatory subdirectory" <<
+			dir.entryList(QDir::Filter::NoFilter, QDir::SortFlag::DirsFirst | QDir::SortFlag::Name);
+		return;
+	}
+
+	auto osType = PlatformInfo::osType();
+	if (osType == "linux") {
+		mNxtToolsPresent = true;
+	}
+	else if (osType == "windows") {
+		auto compileBatPath = dir.absolutePath() + "/compile.bat";
+		mNxtToolsPresent = QFileInfo::exists(compileBatPath) && QFileInfo(compileBatPath).isFile();
 	}
 }

plugins/robots/generators/nxt/nxtOsekCGenerator/nxtOsekCGeneratorPlugin.cpp

@@ -14,9 +14,11 @@
 
 #include "nxtAdditionalPreferences.h"
 #include "ui_nxtAdditionalPreferences.h"
-
 #include <qrkernel/settingsManager.h>
 #include <utils/widgets/comPortPicker.h>
+#include "QsLog.h"
+#include <QOperatingSystemVersion>
+#include <qrkernel/platformInfo.h>
 
 using namespace nxt;
 using namespace qReal;
@@ -28,6 +30,13 @@ NxtAdditionalPreferences::NxtAdditionalPreferences(const QString &realRobotName,
 {
 	mUi->setupUi(this);
 	mUi->robotImagePicker->configure("nxtRobot2DImage", tr("2D robot image:"));
+	if (PlatformInfo::osType()  == "linux") {
+		mUi->compilerPicker->configure("pathToArmNoneEabi", tr("Path to arm-none-eabi:"));
+		setTextOnGeneratorLabel();
+	}
+	else {
+		mUi->generatorSettingsGroupBox->setVisible(false);
+	}
 	connect(mUi->manualComPortCheckbox, &QCheckBox::toggled
 			, this, &NxtAdditionalPreferences::manualComPortCheckboxChecked);
 }
@@ -37,18 +46,44 @@ NxtAdditionalPreferences::~NxtAdditionalPreferences()
 	delete mUi;
 }
 
+void NxtAdditionalPreferences::setColorOnGeneratorLabel(QColor color){
+	QPalette palette = mUi->generatorLabel->palette();
+	palette.setColor(mUi->generatorLabel->foregroundRole(), color);
+	mUi->generatorLabel->setPalette(palette);
+}
+
+void NxtAdditionalPreferences::setTextOnGeneratorLabel(){
+	if (!mUi->compilerPicker->isSavedDirExist()){
+		mUi->generatorLabel->setText(tr("WARNING: Current directory doesn't exist. \nOpen "
+										"<a href=\"https://help.trikset.com/nxt/run-upload-programs\">link</a>"
+										" for instructions"));
+		mUi->generatorLabel->setTextFormat(Qt::RichText);
+		mUi->generatorLabel->setTextInteractionFlags(Qt::TextBrowserInteraction);
+		mUi->generatorLabel->setOpenExternalLinks(true);
+		setColorOnGeneratorLabel(QColor("red"));
+	}
+	else {
+	mUi->generatorLabel->setText("Current directory exist.");
+	setColorOnGeneratorLabel(QColor("black"));
+	}
+}
+
 void NxtAdditionalPreferences::save()
 {
 	SettingsManager::setValue("NxtBluetoothPortName", selectedPortName());
 	SettingsManager::setValue("NxtManualComPortCheckboxChecked", mUi->manualComPortCheckbox->isChecked());
 	mUi->robotImagePicker->save();
+	mUi->compilerPicker->save();
+	setTextOnGeneratorLabel();
 	emit settingsChanged();
 }
 
 void NxtAdditionalPreferences::restoreSettings()
 {
 	ui::ComPortPicker::populate(*mUi->comPortComboBox, "NxtBluetoothPortName");
 	mUi->robotImagePicker->restore();
+	mUi->compilerPicker->restore();
+	setTextOnGeneratorLabel();
 
 	if (mUi->comPortComboBox->count() == 0) {
 		mUi->comPortComboBox->hide();
@@ -72,7 +107,11 @@ void NxtAdditionalPreferences::restoreSettings()
 
 void NxtAdditionalPreferences::onRobotModelChanged(kitBase::robotModel::RobotModelInterface * const robotModel)
 {
+	QLOG_DEBUG() << robotModel->name();
 	mUi->bluetoothSettingsGroupBox->setVisible(robotModel->name() == mBluetoothRobotName);
+	if (PlatformInfo::osType()  == "linux") {
+		mUi->generatorSettingsGroupBox->setVisible(robotModel->name() == "NxtOsekCGeneratorRobotModel");
+	}
 }
 
 void NxtAdditionalPreferences::manualComPortCheckboxChecked(bool state)

plugins/robots/interpreters/nxtKitInterpreter/src/nxtAdditionalPreferences.cpp

@@ -42,7 +42,8 @@ private slots:
 
 private:
 	QString selectedPortName() const;
-
+	void setColorOnGeneratorLabel(QColor color);
+	void setTextOnGeneratorLabel();
 	Ui::NxtAdditionalPreferences *mUi;
 	const QString mBluetoothRobotName;
 };

plugins/robots/interpreters/nxtKitInterpreter/src/nxtAdditionalPreferences.h

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>414</width>
-    <height>164</height>
+    <width>401</width>
+    <height>284</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -27,22 +27,33 @@
     <number>0</number>
    </property>
    <item>
-    <widget class="qReal::ui::ImagePicker" name="robotImagePicker">
-    </widget>
+    <widget class="qReal::ui::ImagePicker" name="robotImagePicker" native="true"/>
    </item>
    <item>
-    <widget class="QGroupBox" name="bluetoothSettingsGroupBox">
+    <widget class="QGroupBox" name="generatorSettingsGroupBox">
      <property name="title">
-      <string>Bluetooth Settings</string>
+      <string>nxtOSEK Generator Settings</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_4">
+     <layout class="QGridLayout" name="gridLayout">
       <item row="1" column="0">
-       <widget class="QLabel" name="comPortLabel">
+       <widget class="QLabel" name="generatorLabel">
         <property name="text">
-         <string>COM Port:</string>
+         <string>TextLabel</string>
         </property>
        </widget>
       </item>
+      <item row="0" column="0">
+       <widget class="qReal::ui::DirPicker" name="compilerPicker" native="true"/>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="bluetoothSettingsGroupBox">
+     <property name="title">
+      <string>Bluetooth Settings</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_4">
       <item row="1" column="1">
        <widget class="QComboBox" name="comPortComboBox">
         <property name="sizePolicy">
@@ -53,16 +64,6 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="directInputComPortLabel">
-        <property name="text">
-         <string>COM Port:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QLineEdit" name="directInputComPortLineEdit"/>
-      </item>
       <item row="0" column="0" colspan="2">
        <widget class="QLabel" name="noComPortsFoundLabel">
         <property name="text">
@@ -73,13 +74,30 @@
         </property>
        </widget>
       </item>
+      <item row="2" column="1">
+       <widget class="QLineEdit" name="directInputComPortLineEdit"/>
+      </item>
       <item row="3" column="0" colspan="2">
        <widget class="QCheckBox" name="manualComPortCheckbox">
         <property name="text">
          <string>Specify COM port manually</string>
         </property>
        </widget>
       </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="comPortLabel">
+        <property name="text">
+         <string>COM Port:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="directInputComPortLabel">
+        <property name="text">
+         <string>COM Port:</string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>
@@ -92,6 +110,12 @@
    <header>qrutils/widgets/imagePicker.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>qReal::ui::DirPicker</class>
+   <extends>QWidget</extends>
+   <header>qrutils/widgets/dirPicker.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources/>
  <connections/>